From dba76d2c8bc0d6d0f6aea84bddc5786de0bba484 Mon Sep 17 00:00:00 2001
From: Shashwat Ganesh <shashwatganesh@protonmail.com>
Date: Sat, 25 Feb 2023 23:55:07 +0530
Subject: [PATCH] Tools: plane: test gcs failsafe: FBWA and Parachute

---
 .../GCSFailsafe/plane-parachute-mission.txt   |  5 +++
 Tools/autotest/arduplane.py                   | 33 ++++++++++++++++++-
 2 files changed, 37 insertions(+), 1 deletion(-)
 create mode 100644 Tools/autotest/ArduPlane_Tests/GCSFailsafe/plane-parachute-mission.txt

diff --git a/Tools/autotest/ArduPlane_Tests/GCSFailsafe/plane-parachute-mission.txt b/Tools/autotest/ArduPlane_Tests/GCSFailsafe/plane-parachute-mission.txt
new file mode 100644
index 0000000000..ea2924c2cc
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/GCSFailsafe/plane-parachute-mission.txt
@@ -0,0 +1,5 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.362045	149.165878	584.280029	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362125	149.165039	10.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364845	149.163452	11.000000	1
+3	0	0      208	2.000000	0.000000	0.000000	0.000000	  0.000000	  0.000000	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 6a96099648..5d3d086ef7 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1178,9 +1178,40 @@ class AutoTestPlane(AutoTest):
         self.delay_sim_time(5)
         self.wait_mode("RTL")
         self.set_heartbeat_rate(self.speedup)
-        self.fly_home_land_and_disarm()
         self.end_subtest("Completed RTL Failsafe test")
 
+        self.start_subtest("Test Failsafe: FBWA Glide")
+        self.set_parameter("RTL_AUTOLAND", 1)
+        self.change_mode("AUTO")
+        self.takeoff()
+        self.set_parameter("FS_GCS_ENABL", 1)
+        self.set_parameter("FS_LONG_ACTN", 2)
+        self.progress("Disconnecting GCS")
+        self.set_heartbeat_rate(0)
+        self.delay_sim_time(5)
+        self.wait_mode("FBWA")
+        self.set_heartbeat_rate(self.speedup)
+        self.end_subtest("Completed FBWA Failsafe test")
+
+        self.start_subtest("Test Failsafe: Deploy Parachute")
+        self.load_mission("plane-parachute-mission.txt")
+        self.set_current_waypoint(1)
+        self.set_parameters({
+            "CHUTE_ENABLED": 1,
+            "CHUTE_TYPE": 10,
+            "SERVO9_FUNCTION": 27,
+            "SIM_PARA_ENABLE": 1,
+            "SIM_PARA_PIN": 9,
+        })
+        self.change_mode("AUTO")
+        self.set_parameter("FS_LONG_ACTN", 3)
+        self.progress("Disconnecting GCS")
+        self.set_heartbeat_rate(0)
+        self.wait_statustext("BANG", timeout=60)
+        self.set_heartbeat_rate(self.speedup)
+        self.disarm_vehicle(force=True)
+        self.reboot_sitl()
+        self.end_subtest("Completed Parachute Failsafe test")
 
     def TestGripperMission(self):
         '''Test Gripper mission items'''